CN116175602A - Main shaft outer wall contact stress reducing walking measurement robot - Google Patents
Main shaft outer wall contact stress reducing walking measurement robot Download PDFInfo
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- CN116175602A CN116175602A CN202310124754.7A CN202310124754A CN116175602A CN 116175602 A CN116175602 A CN 116175602A CN 202310124754 A CN202310124754 A CN 202310124754A CN 116175602 A CN116175602 A CN 116175602A
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- 230000007246 mechanism Effects 0.000 claims abstract description 116
- 239000000523 sample Substances 0.000 claims abstract description 34
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- 238000003825 pressing Methods 0.000 claims description 3
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- 238000005859 coupling reaction Methods 0.000 claims 3
- 230000013011 mating Effects 0.000 abstract description 9
- 238000001514 detection method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000010586 diagram Methods 0.000 description 1
- 238000007654 immersion Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/026—Acoustical sensing devices
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Abstract
The invention provides a main shaft outer wall contact stress reducing walking measurement robot, which comprises a reducing walking mechanism, a reducing measurement mechanism and a circumferential rotation mechanism, wherein the reducing walking mechanism is arranged on the main shaft; the variable-diameter travelling mechanism and the variable-diameter measuring mechanism are free to expand, so that the motor roller and the ultrasonic probe are pressed against the inner wall of the main shaft, and the variable-diameter travelling mechanism and the variable-diameter measuring mechanism are suitable for different inner diameters of the main shaft; the circumferential rotation mechanism drives the diameter-variable measuring mechanisms at two sides of the robot to synchronously and circumferentially rotate, an ultrasonic probe in the diameter-variable measuring mechanism at the left side sends out an ultrasonic signal, an ultrasonic probe in the diameter-variable measuring mechanism at the right side receives the ultrasonic signal, and the diameter-variable measuring mechanism measures once every time when rotating a designated angle until 360-degree measurement is completed; the variable-diameter travelling mechanism drives the robot to axially move for a specified distance, and the variable-diameter measuring mechanism performs circumferential measurement again; repeating the above process until the measurement of the stress distribution of the whole mating surface is completed. The invention can realize automatic measurement of the matching stress of the main shaft and the bearing, has high measurement precision, good flexibility and high degree of automation, and can be suitable for measurement of hollow pipe parts.
Description
Technical Field
The invention belongs to the technical field of robots, and provides a spindle outer wall contact stress reducing walking measurement robot, which aims at solving the problems that the structure of a spindle outer wall part is complex and the contact stress cannot be measured.
Background
The engine main shaft, the high-grade numerical control machine tool main shaft and the like in the aerospace field are mostly hollow pipe structures, have high machining precision, and are supported and fixed by adopting a high-end bearing. The main shaft and the bearing are in interference fit. The rotating speed of the main shaft can reach 30000r/min and even higher, so that high requirements are put on the interference of the matching surface. The contact stress of the mating surface reflects the magnitude of the interference, so the mating quality can be evaluated by measuring the stress distribution of the mating surface.
Based on the characteristic of high sensitivity of ultrasonic waves to contact stress of a contact interface, the measurement of stress distribution of the mating surface can be realized. In 2018 Wang Xiaodong et al, in the invention patent 201810956534.X, an "interference fit connection force ultrasonic detection device and method" is disclosed, the method adopts a point focusing water immersion probe to measure stress distribution and connection force of a mating surface at normal incidence, however, the method is mainly applied to a cylinder interference assembly with small size and regular shape; in 2020, wang Xingyuan et al, in 20201204058. X, a device and a method for measuring stress distribution based on ultrasonic side waves are disclosed, which can realize simultaneous multi-point measurement of stress of a mating interface, but the device cannot meet the requirements for a main shaft bearing structure.
The pipeline robot can walk on the inner wall of the pipeline, and a solution idea is provided for measuring the matching stress of the main shaft and the bearing. However, most of the current pipeline robots adopt vision modules, so that the measurement of the matching stress cannot be realized, and in addition, although the structure can adapt to different pipe diameters, the variable-diameter ultrasonic measurement of the stress distribution of the matching interface is difficult to realize through simple modification.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a variable-diameter walking measuring robot for the contact stress of the outer wall of a main shaft, which is oriented to the detection requirement of the contact stress of the main shaft and a bearing. In the method, a variable-diameter travelling mechanism, a variable-diameter measuring mechanism and a circumferential rotating mechanism are innovatively designed, independent control of the travelling mechanism and the measuring mechanism is realized, so that the variable-diameter travelling mechanism is suitable for different inner diameters of a main shaft, and automatic measurement of circumferential and axial stress of a matching surface can be realized under the driving of the travelling mechanism and the circumferential rotating mechanism.
The purpose of the invention is realized in the following way: comprises a reducing walking mechanism 1, a reducing measuring mechanism 2 and a circumferential rotating mechanism 3; the diameter-changing measuring mechanisms 2 are divided into two groups and are symmetrically distributed on two sides of the circumferential rotating mechanism 3; the two groups of variable-diameter travelling mechanisms 1 are symmetrically distributed on two sides of the circumferential rotation mechanism and are arranged on the outer side of the variable-diameter measuring mechanism 2; the circumferential rotating mechanism 3 can drive the variable diameter measuring mechanisms 2 on two sides of the robot to synchronously and circumferentially rotate, the ultrasonic probes 2-12 in the variable diameter measuring mechanism 2 on the left side send out ultrasonic signals, the ultrasonic probes 2-12 in the variable diameter measuring mechanism 2 on the right side receive the ultrasonic signals, the ultrasonic probes 2-12 on two sides are aligned on the axis of the main shaft 5, and the ultrasonic waves are incident at a first critical angle, so that the ultrasonic signals are ensured to be successfully received; the reducing walking mechanism 1 can drive the robot to axially move.
Further, the reducing running mechanism 1 comprises a motor A1-1, a motor seat A1-2, a coupler A1-3, a bearing seat A1-4, a worm A1-5, a bearing seat A1-6, a driving bracket A1-7, a worm wheel A1-8, a bearing end cover A1-9, a bearing A1-10, a supporting leg seat A1-11, a connecting rod A1-12, a supporting leg A1-13, a motor roller 1-14 and a locking nut 1-15, wherein the motor A1-1 is fixedly arranged on the motor seat A1-2 through bolts, an output shaft of the motor A1-1 is connected with the worm A1-5 through the coupler A1-3, two ends of the worm A1-5 are respectively connected with the bearing seat A1-4 and the bearing seat A1-6 through bearings, the motor seat A1-2, the bearing seat A1-4 and the bearing seat A1-6 are fixedly connected with the driving support A1-7 through bolts, the driving support A1-7 is fixedly connected with the flange shaft 3-9 through bolts, the worm wheel A1-8 is connected with the flange shaft 3-9 through the bearing A1-10 and meshed with the worm A1-5, the worm A1-5 and the worm wheel A1-8 can play a self-locking function to avoid circumferential movement of the motor roller 1-14 in the circumferential measurement process, the bearing end cover A1-9 is fixedly connected with the worm wheel A1-8 through bolts to compress the bearing A1-10, one end of the connecting rod A1-12 with a hole is connected with a convex shaft on the worm wheel A1-8 through a bearing, one end of the connecting rod A1-12 with the convex shaft is connected with a mounting hole in the middle of the supporting leg A1-13 through the bearing, the mounting holes at the root parts of the supporting legs A1-13 are connected with the protruding shafts on the supporting leg bases A1-11 through bearings and distributed at the circumferential direction of 90 degrees, the supporting leg bases A1-11 are fixedly mounted on the flange shaft 3-9 through locking nuts 1-15, and the threaded output shafts of the motor rollers 1-14 are directly screwed and fixed on the threaded holes on the supporting legs A1-13. The four groups of supporting leg walking structures consisting of the connecting rods A1-12, the supporting legs A1-13 and the motor rollers 1-14 are distributed in the circumference direction at 90 degrees in an equidifferent manner.
Further, the reducing measuring mechanism 2 comprises a motor B2-1, a motor seat B2-2, a coupler B2-3, a bearing seat B2-4, a worm B2-5, a bearing seat B2-6, a driving bracket B2-7, a bearing B2-8, a worm wheel B2-9, a bearing end cover B2-10, a connecting rod B2-11, an ultrasonic probe 2-12, an elastic support 2-13, a supporting leg B2-14 and a supporting leg seat B2-15, wherein the motor B2-1 is fixedly arranged on the motor seat B2-2 through bolts, an output shaft of the motor B2-1 is connected with the worm B2-5 through the coupler B2-3, two ends of the worm B2-5 are respectively connected with the bearing seat B2-4 and the bearing seat B2-6 through bearings, the motor seat B2-2, the bearing seat B2-4 and the bearing seat B2-6 are fixedly connected with the driving support B2-7 through bolts, the driving support B2-7 is fixedly connected with the rotating base 3-8 through bolts, the worm wheel B2-9 is connected with the rotating base 3-8 through the bearing B2-8 and meshed with the worm B2-5, the worm B2-5 and the worm wheel B2-9 can play a self-locking function, the circumferential movement of the ultrasonic probe 2-12 in the circumferential measurement process is avoided, the bearing end cover B2-10 is fixedly connected with the worm wheel B2-9 through bolts so as to compress the bearing B2-8, one end of the connecting rod B2-11 with a hole is connected with a convex shaft on the worm wheel B2-9 through a bearing, one end of the connecting rod B2-11 with the convex shaft is connected with a mounting hole in the middle of the supporting leg B2-14 through the bearing, and distributed at 90 degrees in the circumferential direction, the root mounting holes of the supporting legs B2-14 are connected with the convex shafts on the supporting leg bases B2-15 through bearings, and distributed at 90 degrees in the circumferential direction, the supporting leg bases B2-15 are connected with the rotating bases 3-8 in an interference manner, the elastic support 2-13 is fixedly arranged at the end part of the supporting leg B2-14 through a bolt, and the ultrasonic probe 2-12 is fixedly arranged on the elastic support 2-13 through a bolt. The four groups of support leg measuring structures consisting of the connecting rod B2-11, the support legs B2-14 and the ultrasonic probe 2-12 are distributed in the circumference direction by 90 degrees in an equidifference mode in the reducing measuring mechanism 2.
Further, the circumferential rotating mechanism 3 comprises a double-output-shaft motor 3-1, a double-output-shaft motor seat 3-2, a coupler 3-3, a bevel gear driving shaft 3-4, a bearing support 3-5, a bevel gear 3-6, a bevel gear 3-7, a rotating base 3-8, a flange shaft 3-9 and a central square tube 3-10, wherein the double-output-shaft motor 3-1 is fixedly arranged on the double-output-shaft motor seat 3-2 through bolts, the double-output-shaft motor seat 3-2 is fixedly connected with the central square tube 3-10 through bolts, output shafts at two ends of the double-output-shaft motor 3-1 are connected with the bevel gear driving shaft 3-4 at two ends through the coupler 3-3, the bevel gear driving shaft 3-4 is in interference connection with the bevel gear 3-6, the bevel gear driving shaft 3-4 is arranged on the bearing support 3-5 through a bearing to drive the bevel gear 3-6 to rotate, the bearing support 3-5 is fixedly connected with the central square tube 3-10 through bolts, the bevel gear 3-6 is meshed with the bevel gear 3-7 according to the gear fit relation, the bevel gear 3-7 is in interference connection with the bevel gear 3-8, and the bevel gear 3-8 is connected with the bevel gear 3-8 through the bevel gear driving shaft 3-4, one end of the bevel gear 3-9 can be inserted into one end of the bevel gear 3-6 through the bevel gear 3 through the bearing 3-10, and the bevel gear 3 is fixedly connected with one end of the bevel tube 3 through the flange 3-3.
The working principle is as follows: motors A1-1 in variable-diameter travelling mechanisms 1 on two sides of the robot drive worms A1-5 to drive worm gears A1-8 to rotate, so that connecting rods A1-12 and supporting legs A1-13 are driven to move, and all motor rollers 1-14 are expanded and pressed on the inner wall of a main shaft 5 at the same time to adapt to different inner diameters of the main shaft; then, motors B2-1 in variable diameter measuring mechanisms 2 on two sides of the robot drive worms B2-5 to drive worm wheels B2-9 to rotate, so that connecting rods B2-11 and supporting legs B2-14 are driven to move, all ultrasonic probes 2-12 are expanded and pressed on the inner wall of a main shaft 5 at the same time, elastic supports 2-13 are elastically deformed in the pressing process, and the surfaces of the ultrasonic probes 2-12 are attached to the inner wall of the main shaft 5 to adapt to different inner diameters of the main shaft; the double-output shaft motor 3-1 in the circumferential rotation mechanism 3 drives the small bevel gears 3-6 on two sides to drive the large bevel gears 3-7 to rotate, and because the large bevel gears 3-7 are in interference connection with the rotation base 3-8, the diameter-variable measuring mechanisms 2 arranged on the two sides on the rotation base 3-8 also rotate along with the large bevel gears, and after one designated angle is rotated for one time, the diameter-variable measuring mechanisms 2 on the two sides finish one measurement, all motor rollers 1-14 in the diameter-variable walking mechanisms 1 on the two sides simultaneously rotate and move a designated distance along the axial direction, at the moment, the double-output shaft motor 3-1 drives the diameter-variable measuring mechanisms 2 for two measurements again to perform circumferential measurement, and the process is repeated until the stress distribution measurement of the matching surface of the bearing 4 and the main shaft 5 is completed.
Compared with the prior art, the invention has the beneficial effects that: (1) According to the invention, the circumferential rotation mechanisms can synchronously drive the variable diameter measuring mechanisms at two sides of the robot to move circumferentially, so that 360-degree circumferential measurement of a matching interface is realized, the rotation deployment time is shortened, and the aim of improving the working efficiency is fulfilled. (2) The invention realizes the diameter-changing function through the combination of the worm gear and the connecting rod mechanism, so as to be suitable for measuring the stress distribution of the outer matching surfaces of the main shafts with different inner diameters. (3) According to the invention, the ultrasonic probe is fixed on the leg by using the elastic support, and the elastic support can elastically deform to enable the surface of the ultrasonic probe to be better attached to the inner wall of the main shaft, so that the measurement accuracy is ensured. (4) The invention can realize the circumferential and axial movement of the diameter-variable measuring mechanism, has good flexibility and high degree of automation, and can obviously improve the measuring efficiency.
Drawings
FIG. 1 is a schematic diagram of a spindle and bearing mating structure;
FIG. 2 is a schematic view of the overall structure of a robot;
FIGS. 3a-b are schematic structural views of a variable diameter running gear;
FIG. 4 is a schematic view of the back structure of the variable diameter running gear;
FIGS. 5a-b are schematic structural views of a variable diameter measuring mechanism;
FIG. 6 is a schematic view of a circumferential rotation mechanism;
in the figure: the variable-diameter walking mechanism 1, a variable-diameter measuring mechanism 2, a circumferential rotating mechanism 3, a bearing 4, a main shaft 5, a motor A1-1, a motor seat A1-2, a shaft coupler A1-3, a bearing seat A1-4, a worm A1-5, a bearing seat A1-6, a driving bracket A1-7, a worm wheel A1-8, a bearing end cover A1-9, a bearing A1-10, a supporting leg seat A1-11, a connecting rod A1-12, a supporting leg A1-13, a motor roller 1-14, a locking nut 1-15, a motor B2-1, a motor seat B2-2, a shaft coupler B2-3, a bearing seat B2-4, a worm wheel B2-5, a bearing seat B2-6, a driving bracket B2-7, a bearing B2-8, a worm wheel end cover B2-9, a bearing end cover B2-10, a connecting rod B2-11, an ultrasonic probe 2-12, an elastic support 2-13, a supporting leg B2-14, a supporting leg seat B2-15, a double-output shaft motor 3-1, a double output shaft seat 3-2, a bevel gear 3-3, a bevel gear 3-4, a bevel gear 3-3, a bevel gear 3-6, a large and a small shaft support, a bevel gear 3-6, a small shaft flange, and a small shaft.
Detailed Description
The invention is described in further detail below with reference to the drawings and the detailed description.
Referring to fig. 1-6, a spindle outer wall contact stress reducing walking measurement robot comprises a reducing walking mechanism 1, a reducing measurement mechanism 2 and a circumferential rotation mechanism 3; the diameter-changing measuring mechanisms 2 are divided into two groups and are symmetrically distributed on two sides of the circumferential rotating mechanism 3; the two groups of variable-diameter travelling mechanisms 1 are symmetrically distributed on two sides of the circumferential rotation mechanism and are arranged on the outer side of the variable-diameter measuring mechanism 2; the circumferential rotating mechanism 3 can drive the variable diameter measuring mechanisms 2 on two sides of the robot to synchronously and circumferentially rotate, the ultrasonic probes 2-12 in the variable diameter measuring mechanism 2 on the left side send out ultrasonic signals, the ultrasonic probes 2-12 in the variable diameter measuring mechanism 2 on the right side receive the ultrasonic signals, the ultrasonic probes 2-12 on two sides are aligned on the axis of the main shaft 5, and the ultrasonic waves are incident at a first critical angle, so that the ultrasonic signals are ensured to be successfully received; the reducing walking mechanism 1 can drive the robot to axially move.
The reducing running mechanism 1 comprises a motor A1-1, a motor seat A1-2, a coupler A1-3, a bearing seat A1-4, a worm A1-5, a bearing seat A1-6, a driving support A1-7, a worm wheel A1-8, a bearing end cover A1-9, a bearing A1-10, a supporting leg seat A1-11, a connecting rod A1-12, a supporting leg A1-13, a motor roller 1-14 and a locking nut 1-15, wherein the motor A1-1 is fixedly arranged on the motor seat A1-2 through bolts, an output shaft of the motor A1-1 is connected with the worm A1-5 through the coupler A1-3, two ends of the worm A1-5 are respectively connected with the bearing seat A1-4 and the bearing seat A1-6 through bearings, the motor seat A1-2, the bearing seat A1-4 and the bearing seat A1-6 are fixedly connected with the driving support A1-7 through bolts, the driving bracket A1-7 is fixedly connected with the flange shaft 3-9 through a bolt, the worm wheel A1-8 is connected with the flange shaft 3-9 through a bearing A1-10 and meshed with the worm A1-5, the worm A1-5 and the worm wheel A1-8 can play a self-locking function to avoid circumferential movement of the motor roller 1-14 in the circumferential measurement process, the bearing end cover A1-9 is fixedly connected with the worm wheel A1-8 through a bolt to compress the bearing A1-10, one end of the connecting rod A1-12 with a hole is connected with a convex shaft on the worm wheel A1-8 through a bearing, one end of the connecting rod A1-12 with the convex shaft is connected with a mounting hole in the middle of the supporting leg A1-13 through a bearing, the mounting holes at the root parts of the supporting legs A1-13 are connected with the protruding shafts on the supporting leg bases A1-11 through bearings and distributed at the circumferential direction of 90 degrees, the supporting leg bases A1-11 are fixedly mounted on the flange shaft 3-9 through locking nuts 1-15, and the threaded output shafts of the motor rollers 1-14 are directly screwed and fixed on the threaded holes on the supporting legs A1-13. The four groups of supporting leg walking structures consisting of the connecting rods A1-12, the supporting legs A1-13 and the motor rollers 1-14 are distributed in the circumference direction at 90 degrees in an equidifferent manner.
The diameter-changing measuring mechanism 2 comprises a motor B2-1, a motor base B2-2, a coupler B2-3, a bearing seat B2-4, a worm B2-5, a bearing seat B2-6, a driving support B2-7, a bearing B2-8, a worm wheel B2-9, a bearing end cover B2-10, a connecting rod B2-11, an ultrasonic probe 2-12, an elastic support 2-13, a support B2-14 and a support B2-15, wherein the motor B2-1 is fixedly arranged on the motor base B2-2 through bolts, an output shaft of the motor B2-1 is connected with the worm B2-5 through the coupler B2-3, two ends of the worm B2-5 are respectively connected with the bearing seat B2-4 and the bearing seat B2-6 through bearings, the motor base B2-2, the bearing seat B2-4 and the bearing seat B2-6 are fixedly connected with the driving support B2-7 through bolts, the driving bracket B2-7 is fixedly connected with the rotating base 3-8 through a bolt, the worm wheel B2-9 is connected with the rotating base 3-8 through a bearing B2-8 and meshed with the worm B2-5, the worm B2-5 and the worm wheel B2-9 can play a self-locking function, the circumferential movement of the ultrasonic probe 2-12 in the circumferential measurement process is avoided, the bearing end cover B2-10 is fixedly connected with the worm wheel B2-9 through a bolt so as to compress the bearing B2-8, one end of the connecting rod B2-11 with a hole is connected with a convex shaft on the worm wheel B2-9 through a bearing, one end of the connecting rod B2-11 with the convex shaft is connected with a mounting hole in the middle of the supporting leg B2-14 through a bearing, and distributed at 90 degrees in the circumferential direction, the root mounting holes of the supporting legs B2-14 are connected with the convex shafts on the supporting leg bases B2-15 through bearings, and distributed at 90 degrees in the circumferential direction, the supporting leg bases B2-15 are connected with the rotating bases 3-8 in an interference manner, the elastic support 2-13 is fixedly arranged at the end part of the supporting leg B2-14 through a bolt, and the ultrasonic probe 2-12 is fixedly arranged on the elastic support 2-13 through a bolt. The four groups of support leg measuring structures consisting of the connecting rod B2-11, the support legs B2-14 and the ultrasonic probe 2-12 are distributed in the circumference direction by 90 degrees in an equidifference mode in the reducing measuring mechanism 2.
The circumferential rotating mechanism 3 comprises a double-output-shaft motor 3-1, a double-output-shaft motor seat 3-2, a coupler 3-3, a bevel gear driving shaft 3-4, a bearing support 3-5, a bevel gear 3-6, a large bevel gear 3-7, a rotating base 3-8, a flange shaft 3-9 and a central square tube 3-10, wherein the double-output-shaft motor 3-1 is fixedly arranged on the double-output-shaft motor seat 3-2 through bolts, the double-output-shaft motor seat 3-2 is fixedly connected with the central square tube 3-10 through bolts, the output shafts at two ends of the double-output-shaft motor 3-1 are connected with the bevel gear driving shafts 3-4 at two ends through the coupler 3-3, the bevel gear driving shafts 3-4 are in interference connection with the bevel gear 3-6, the bevel gear driving shafts 3-4 are arranged on the bearing support 3-5 through bearings to drive the bevel gears 3-6 to rotate, the bearing support 3-5 and the central square tube 3-10 through bolts, the bevel gears 3-6 and the large bevel gear 3-7 are meshed in a gear fit relation, the bevel gear 3-7 and the bevel gear 3-8 are in interference connection with the rotating base 3-8, and one end of the bevel gear 3-9 can be inserted into the rotating base 3-9 through the bearing 3-8, and one end of the bevel gear is fixedly connected with the bevel gear 3-9 through the flange.
When the robot works, motors A1-1 in variable-diameter travelling mechanisms 1 on two sides of the robot drive worms A1-5 to drive worm wheels A1-8 to rotate, so that connecting rods A1-12 and supporting legs A1-13 are driven to move, and all motor rollers 1-14 are expanded and pressed on the inner wall of a main shaft 5 at the same time to adapt to different inner diameters of the main shaft; then, motors B2-1 in variable diameter measuring mechanisms 2 on two sides of the robot drive worms B2-5 to drive worm wheels B2-9 to rotate, so that connecting rods B2-11 and supporting legs B2-14 are driven to move, all ultrasonic probes 2-12 are expanded and pressed on the inner wall of a main shaft 5 at the same time, elastic supports 2-13 are elastically deformed in the pressing process, and the surfaces of the ultrasonic probes 2-12 are attached to the inner wall of the main shaft 5 to adapt to different inner diameters of the main shaft; the double-output shaft motor 3-1 in the circumferential rotation mechanism 3 drives the small bevel gears 3-6 on two sides to drive the large bevel gears 3-7 to rotate, and because the large bevel gears 3-7 are in interference connection with the rotation base 3-8, the diameter-variable measuring mechanisms 2 arranged on the two sides on the rotation base 3-8 also rotate along with the large bevel gears, and after one designated angle is rotated for one time, the diameter-variable measuring mechanisms 2 on the two sides finish one measurement, all motor rollers 1-14 in the diameter-variable walking mechanisms 1 on the two sides simultaneously rotate and move a designated distance along the axial direction, at the moment, the double-output shaft motor 3-1 drives the diameter-variable measuring mechanisms 2 for two measurements again to perform circumferential measurement, and the process is repeated until the stress distribution measurement of the matching surface of the bearing 4 and the main shaft 5 is completed.
In conclusion, the invention belongs to the technical field of robots, and provides a spindle outer wall contact stress reducing walking measurement robot. The robot comprises a reducing walking mechanism, a reducing measuring mechanism and a circumferential rotating mechanism; the variable-diameter travelling mechanism and the variable-diameter measuring mechanism can be freely expanded to enable the motor roller and the ultrasonic probe to press the inner wall of the main shaft so as to adapt to different inner diameters of the main shaft; the circumferential rotation mechanism can drive the diameter-variable measuring mechanisms at two sides of the robot to synchronously and circumferentially rotate, an ultrasonic probe in the diameter-variable measuring mechanism at the left side sends out an ultrasonic signal, an ultrasonic probe in the diameter-variable measuring mechanism at the right side receives the ultrasonic signal, and the diameter-variable measuring mechanism measures once every time when rotating a designated angle until 360-degree measurement is completed; then, the variable-diameter travelling mechanism drives the robot to axially move for a specified distance, and the variable-diameter measuring mechanism performs circumferential measurement again; repeating the above process until the measurement of the stress distribution of the whole mating surface is completed. The invention can realize automatic measurement of the matching stress of the main shaft and the bearing, has high measurement precision, good flexibility and high degree of automation, and can be suitable for measurement of hollow pipe parts.
Claims (5)
1. The utility model provides a main shaft outer wall contact stress reducing walking measuring robot which characterized in that: the device comprises a variable-diameter walking mechanism (1), a variable-diameter measuring mechanism (2) and a circumferential rotating mechanism (3), wherein the variable-diameter measuring mechanism (2) is divided into two groups, and the variable-diameter measuring mechanisms are symmetrically distributed on two sides of the circumferential rotating mechanism (3); the two groups of variable-diameter travelling mechanisms (1) are symmetrically distributed on two sides of the circumferential rotation mechanism and are positioned on the outer side of the variable-diameter measuring mechanism (2); the circumferential rotating mechanism (3) drives the variable diameter measuring mechanisms (2) at two sides of the robot to synchronously rotate circumferentially; the reducing walking mechanism (1) drives the robot to axially move.
2. The spindle outer wall contact stress reducing walking measurement robot according to claim 1, wherein: the reducing running mechanism (1) comprises a motor A (1-1), a motor seat A (1-2), a shaft coupling A (1-3), a bearing seat A (1-4), a worm A (1-5), a bearing seat A (1-6), a driving bracket A (1-7), a worm wheel A (1-8), a bearing end cover A (1-9), a bearing A (1-10), a supporting leg seat A (1-11), a connecting rod A (1-12), a supporting leg A (1-13), a motor roller wheel (1-14) and a locking nut (1-15), wherein the motor A (1-1) is fixedly arranged on the motor seat A (1-2) through bolts, an output shaft of the motor A (1-1) is connected with the worm A (1-5) through the shaft coupling A (1-3), two ends of the worm A (1-5) are respectively connected with the bearing seat A (1-4) and the bearing seat A (1-6) through bearings, the motor seat A (1-2), the bearing seat A (1-4) and the bearing seat A (1-6) are fixedly connected with the driving bracket A (1-7) through the bolts, the output shaft of the motor A (1-1) is fixedly arranged on the driving bracket A (1-2) through the shaft coupling A (1-5), the worm wheel A (1-8) is connected with the flange shaft (3-9) through the bearing A (1-10), and is meshed with the worm A (1-5), the worm A (1-5) and the worm wheel A (1-8) can play a self-locking function, circumferential play of a motor roller (1-14) in the circumferential measurement process is avoided, the bearing end cover A (1-9) is fixedly connected with the worm wheel A (1-8) through a bolt to tightly press the bearing A (1-10), one end of the connecting rod A (1-12) with a hole is connected with a protruding shaft on the worm wheel A (1-8) through the bearing, one end of the connecting rod A (1-12) with the protruding shaft is connected with a mounting hole in the middle of the supporting leg A (1-13) through the bearing and distributed in the circumferential direction at the same angle, root mounting holes of the supporting leg A (1-13) are connected with the protruding shaft on the supporting leg seat A (1-11) through the bearing and distributed in the circumferential direction at the same angle, the supporting leg seat A (1-11) is fixedly arranged on the flange (1-9) through a nut (1-15), and the supporting leg A (1-13) is fixedly arranged on the flange (1-9) through the motor nut (1-15) and is directly fastened on the threaded shaft (1-13). The four groups of support leg walking structures consisting of the connecting rods A (1-12), the support legs A (1-13) and the motor rollers (1-14) are distributed in the variable-diameter walking mechanism in the circumferential direction at 90-degree equidifferent.
3. The spindle outer wall contact stress reducing walking measurement robot according to claim 1 or 2, characterized in that: the circumferential rotating mechanism (3) comprises a double-output-shaft motor (3-1), a double-output-shaft motor seat (3-2), a coupler (3-3), a bevel gear driving shaft (3-4), a bearing support (3-5), a small bevel gear (3-6), a large bevel gear (3-7), a rotating base (3-8), a flange shaft (3-9) and a central square tube (3-10), wherein the double-output-shaft motor (3-1) is fixedly arranged on the double-output-shaft motor seat (3-2) through bolts, the double-output-shaft motor seat (3-2) is fixedly connected with the central square tube (3-10) through bolts, the output shafts at two ends of the double-output-shaft motor (3-1) are connected with bevel gear driving shafts (3-4) at two ends through the coupler (3-3), the bevel gear driving shaft (3-4) is in interference connection with the small bevel gear (3-6), the bevel gear driving shaft (3-4) is arranged on the bearing support (3-5) through bearings to drive the small bevel gear (3-6) to rotate, the bearing support (3-5) and the central bevel gear (3-5) is fixedly connected with the bevel gear (3-6) through bolts in a meshed relation with the large bevel gear (3-6), the large gear (3-7) is in interference connection with the rotating base (3-8), one end of the flange shaft (3-9) penetrates into the rotating base (3-8) and is connected together through a bearing, and one end of the flange shaft (3-9) positioned on the large bevel gear (3-7) is inserted into the central square tube (3-10) and is fixedly connected through a bolt.
4. A spindle outer wall contact stress reducing walking measurement robot according to claim 3, wherein: the diameter-changing measuring mechanism comprises a motor B (2-1), a motor base B (2-2), a coupler B (2-3), a bearing seat B (2-4), a worm B (2-5), a bearing seat B (2-6), a driving bracket B (2-7), a bearing B (2-8), a worm wheel B (2-9), a bearing end cover B (2-10), a connecting rod B (2-11), an ultrasonic probe (2-12), an elastic support (2-13), a supporting leg B (2-14) and a supporting leg seat B (2-15), wherein the motor B (2-1) is fixedly arranged on the motor base B (2-2) through bolts, an output shaft of the motor B (2-1) is connected with the worm B (2-5) through the coupler B (2-3), two ends of the worm B (2-5) are respectively connected with the bearing seat B (2-4) and the bearing seat B (2-6) through bearings, the bearing seat B (2-4) and the bearing seat B (2-6) are fixedly connected with the driving bracket B (7) through the bolts and the driving bracket B (2-7) through the bolts, the worm wheel B (2-9) is connected with the rotating base (3-8) through the bearing B (2-8), and is meshed with the worm B (2-5), the worm B (2-5) and the worm wheel B (2-9) can play a self-locking function, circumferential play of the ultrasonic probe (2-12) in the circumferential measurement process is avoided, the bearing end cover B (2-10) is fixedly connected with the worm wheel B (2-9) through a bolt to tightly press the bearing B (2-8), one end of the connecting rod B (2-11) with a hole is connected with a protruding shaft on the worm wheel B (2-9) through the bearing, one end of the connecting rod B (2-11) with the protruding shaft is connected with a mounting hole in the middle of the supporting leg B (2-14) through the bearing and distributed at 90 DEG in the circumferential direction, the root mounting hole of the supporting leg B (2-14) is connected with the protruding shaft on the supporting leg seat B (2-15) through the bearing and distributed at 90 DEG in the circumferential direction, the supporting leg seat B (2-15) with the protruding shaft is fixedly connected with the rotating base (3-8) with the protruding shaft on the supporting leg B (2-13) through the bolt, and the elastic probe (2-14) is fixedly mounted on the supporting leg B (2-13) through the elastic supporting seat. The four groups of support leg measuring structures formed by the connecting rods B (2-11), the support legs B (2-14) and the ultrasonic probe (2-12) are distributed in the diameter-changing measuring mechanism (2) in the circumferential direction at 90 degrees.
5. The spindle outer wall contact stress reducing walking measurement robot according to claim 4, wherein: the spindle outer wall contact stress reducing walking measurement robot according to claim 1, wherein: when the robot works, motors A (1-1) in variable-diameter travelling mechanisms (1) on two sides of the robot drive worms A (1-5) to drive worm wheels A (1-8) to rotate, so that connecting rods A (1-12) and supporting legs A (1-13) are driven to move, and all motor rollers (1-14) are expanded and pressed on the inner wall of a main shaft (5) simultaneously; the motors B (2-1) in the diameter-variable measuring mechanisms (2) at the two sides of the robot drive the worm screws B (2-5) to drive the worm gears B (2-9) to rotate, so that the connecting rods B (2-11) and the supporting legs B (2-14) are driven to move, all the ultrasonic probes (2-12) are expanded and pressed on the inner wall of the main shaft (5) at the same time, and the elastic supports (2-13) are elastically deformed in the pressing process, so that the surfaces of the ultrasonic probes (2-12) are attached to the inner wall of the main shaft (5); the double-output-shaft motor (3-1) in the circumferential rotating mechanism (3) drives the bevel pinions (3-6) on two sides to drive the bevel pinions (3-7) to rotate, the diameter-variable measuring mechanism (2) on the rotating base (3-8) on two sides rotates along with the bevel pinions, one measurement is completed after each designated angle is rotated, all motor rollers (1-14) in the diameter-variable traveling mechanism (1) on two sides rotate at the same time to move a designated distance along the axial direction after the diameter-variable measuring mechanism (2) on two sides rotates for 360 degrees, at the moment, the double-output-shaft motor (3-1) drives the diameter-variable measuring mechanism (2) for two measurements again to perform circumferential measurement, and the process is repeated until the stress distribution measurement of the matching surfaces of the bearing (4) and the spindle (5) is completed.
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